• International Journal of Control, Automation, and Systems
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• v.4 no.1
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• pp.77-86
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• 2006

A new method in robot path generation is presented using an analysis of the characteristics of multi-robot collision avoidance. The research is based on the concept of the collision map, where the collision between two robots is presented by a collision region and a crossing curve TLVSTC (traveled length versus servo time curve). Analytic collision avoidance is considered by translating the collision region in the collision map. The 4 different translations of collision regions correspond to the 4 parallel movements of the actual original robot path in the real world. This analysis is applied to path modifications where the analysis of collision characteristics is crucial and the resultant path for collision avoidance is generated. Also, the correlations between the translations of the collision region and robot paths are clarified by analyzing the collision/non-collision areas. The influence of the changes of robot velocity is investigated analytically in view of collision avoidance as an example.

• Journal of Korean Port Research
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• v.14 no.2
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• pp.219-231
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• 2000

In this paper a complicated structural behavior in collision and its effects of energy translation to the collision bulkhead was examined through a methodology of the numerical simulation to obtain a ideal bow construction and a location of collision bulkhead against head on collision. In the present the bow structure is normally designed in consideration of its specific structural arrangements and internal and external loads in these area such as hydrostatic and dynamic pressure, wave impact and bottom slamming in accordance with the Classification rules, and the specific location of collision bulkhead by SOLAS requirement. By these studies the behavior of the bow collapse due to collision was synthetically evaluated for the different size of tankers and its operational speed limits, and by the results of these simulation it provides the optimal design concept for the bow construction to prevent the subsequent plastic deformation onto or near to the collision bulkhead boundary and to determine the rational location of collision bulkhead.

• Journal of Ocean Engineering and Technology
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• v.38 no.3
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• pp.124-136
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• 2024

As the number of offshore wind-power installations increases, collision accidents with vessels occur more frequently. This study investigates the risk of collision damage with operating vessels that may occur during the operation of an offshore wind turbine. The floater used in the collision study is a 15 MW UMaine VolturnUS-S (semi-submersible type), and the colliding ships are selected as multi-purpose vessels, service operation vessels, or anchor-handling tug ships based on their operational purpose. Collision analysis is performed using ABAQUS and substantiation is performed via a drop impact test. The collision analyses are conducted by varying the ship velocity, displacement, collision angle, and ship shape. By applying this numerical model, the extent of damage and deformation of the collision area is confirmed. The analysis results show that a vessel with a bulbous bow can cause flooding, depending on the collision conditions. For damage caused by collision, various collision angles must be considered based on the internal stiffener arrangement. Additionally, the floater can be flooded with relatively small collision energy when the colliding vessel has a bulbous bow.

• Journal of Ocean Engineering and Technology
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• v.14 no.2
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• pp.28-35
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• 2000

In this paper a complicated structural behavior in collision and its effect of energy transmission to the collision bulkhead was examined through a methodology of the numerical simulation to obtain a ideal bow construction and a location of collision bulkhead against heat on collision. At present the bow structure is normally designed in consideration of its specific structural arrangement and internal and external loads in these areas such as hydrostatic and dynamic pressure wave impact and bottom slamming in accordance with the Classification rules and the specific location of collision bulkhead by SOLAS requirement. By these studies the behavior of the bow collapse due to collision was synthetically evaluated for the different size of tankers and its operational speed limits and by the results of these simulation it provides the optimal design concept for the bow construction to prevent the subsequent plastic deformation onto or near to the collision bulkhead boundary and to determine the rational location of collision bulkhead.

• Proceedings of the Korea Committee for Ocean Resources and Engineering Conference
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• 2000.04a
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• pp.195-204
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• 2000

In this paper a complicated structural behavior in collision and its effect of energy translation to the collision bulkhead was examined through a methodology of the numerical simulation to obtain a ideal bow construction and a location of collision bulkhead against head on collision. In the present the bow structure is normally designed in consideration of its specific structural arrangements and internal and external loads in these area such as hydrostatic and dynamic pressure, wave impact and bottom slamming in accordance with the Classification rules, and the specific location of collision bulkhead by SOLAS requirement. By these studies the behavior of the bow collapse due to collision was synthetically evaluated for the different size of tankers and its operational speed limits, and by the result of these simulation it provides the optimal design concept for the low construction to prevent the subsequent plastic deformation onto or near to the collision bulkhead boundary and to determine the rational location of collision bulkhead.

• Transactions of the Korean Society of Automotive Engineers
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• v.16 no.1
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• pp.52-63
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• 2008

The side collision reconstruction algorithm is developed using three dimensional car crash analysis. Medium size passenger car is modeled for finite element analysis. Total 24 side collision configurations, four different speed and six different angle, are set up for making side collision database. Deformation index and degree index are built up for each collision case. Deformation index is a kind of deformation estimate averaging displacement of side door of crashed car from finite element analysis result. Angle index is constructed measuring deformed angle of crashing car. There are two kinds of angle index, one is measured at driver's side and the other is measured at passenger's side. Also a collision analysis information in side of cars is used for giving a basis for scientific and practical reason in a reconstruction of the car accident. The analysis program, LS-DYNA3D is utilized for finite element analysis program for a collision analysis. Those database are used for side collision reconstruction. Side collision reconstruction algorithm is developed, and applied to find the collision conditions before the accident occurs. Three example collision cases are tried to check the effectiveness of the algorithm. Deformation index and angle index is extracted for the case from the analysis result. Deformation index is compared to the established database, and estimated collision speed and angle are introduced by interpolation function. Angle index is used to select a specific collision condition from the several available conditions. The collision condition found by reconstruction algorithm shows good match with original condition within 10% error for speed and angle. As a result, the calculation from the reconstruction of the situation is reproducing the situation well. The performance in this study can be used in many ways for practical field using deformation index and degree index. Other different collision situations may be set up for extending the scope of this study in the future.

• Transactions of the Korean Society of Automotive Engineers
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• v.17 no.2
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• pp.49-56
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• 2009

In this study, a side collision accident reconstruction using database based on the deformed shape information from the collision test using model cars is suggested. A deformation index and angle index related to the deformed shape is developed to set the database for the collision accident reconstruction algorithm. Two small size RC cars are developed to carry out the side collision test. Several side collision tests according to the velocity and collision angles are performed for establishing the side collision database. A high speed camera with 1000fps is used to capture the motion of the car. A side collision accident reconstruction algorithm is developed and applied to find the collision conditions before the accident occurs. Two collision cases are tested to validate the database and the algorithm. The results obtained by the reconstruction algorithm show good match with original conditions with regard to the velocity and angle.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.36 no.3B
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• pp.248-253
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• 2011

Collision avoidance algorithm of vessels have been studied to avoid collision and grounding of a vessel due to human error. In this paper, We propose a collision avoidance algorithm using bayesian estimation theory for safety sailing and reduced risk of collision accident. We calculate collision risk for efficient collision avoidance using bayesian algorithm and determined the safest and most effective collision risk is predicted by using re-planned with re-evaluated collision risk in the future(t=t'). Others ship position is assumed to be informed from AIS. Experimental results show that we estimate the safest and most effective collision risk.

• Journal of the Computational Structural Engineering Institute of Korea
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• v.30 no.6
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• pp.485-493
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• 2017

In this study, the collision analysis of SCP(Sandwich Concrete Panel) composing the outer tank of LNG storage was performed and its collision behavior was analyzed. For the same collision energy value proposed in BS7777 code, the collision conditions are composed by using two types of missiles and various collision speeds. Nonlinear dynamic analysis models were constructed to perform numerical analysis on the various collision conditions. Also, the collision behavior was analyzed assuming that the second collision with the same collision energy occurs at the same point after the first collision. As a result of the analysis, it was found that with smaller missile and low collision speed had caused larger deformation. The collision energy dissipated in ratio of about 6: 4 in the outer steel plate and the inner filling concrete. In the results of double collision analysis, the final collisional deformation was dominated by the size of the second missile, and the amount of deformation due to the second collision was smaller than that of the first collision because of the membrane behavior of the steel plates. In the offset double collision cases, the largest deformation occurs at the secondary collision point regardless of the offset distance.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• 2001.10a
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• pp.114-119
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• 2001

Based on tole investigation on mariner’s behaviors in collision avoidance, actuality of collision avoidance at sea and the research on the uncertainty of collision avoidance behaviors adopted by two encounter vessels, and for the purpose to reduce the no-coordination action of collision avoidance between two encounter vessels, and on the base of different encounter situation in international convention for preventing collisions at sea, the concept of action situation between tee encounter vessels is proposed, and the directions for every encounter vessel to adopt course alteration to avoid collision are explained in different action situation. The mechanism of avoidance and reduction of no-coordination is established in intelligent collision avoidance system, and it is important id research on intelligent collision avoidance system.